Update moveit_servo tutorial to release 1.3.x of UR5

doc/realtime_servo/realtime_servo_tutorial.rst

@@ -38,25 +38,25 @@ Re-build and re-source the workspace. ::
 
 Launch the Gazebo simulation: ::
 
- roslaunch ur_gazebo ur5.launch
+ roslaunch ur_gazebo ur5_bringup.launch
 
- roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true
+ roslaunch ur5_moveit_config moveit_planning_execution.launch sim:=true
 
- roslaunch ur5_moveit_config moveit_rviz.launch config:=true
+ roslaunch ur5_moveit_config moveit_rviz.launch
 
 In RViz, grab the red/blue/green "interactive marker" and drag the robot to a non-singular position (not all zero joint angles) that is not close to a joint limit. Click "plan and execute" to move the robot to that pose.
 
 Switch to a compatible type of `ros-control` controller. It should be a `JointGroupVelocityController` or a `JointGroupPositionController`, not a trajectory controller like MoveIt usually requires. ::
 
  rosservice call /controller_manager/switch_controller "start_controllers: ['joint_group_position_controller']
- stop_controllers: ['arm_controller']
+ stop_controllers: ['eff_joint_traj_controller']
  strictness: 0
  start_asap: false
  timeout: 0.0"
 
 Launch the servo node. This example uses commands from a `SpaceNavigator <https://www.3dconnexion.com/spacemouse_compact/en/>`_ joystick-like device: ::
 
- roslaunch moveit_servo spacenav_cpp.launch
+ roslaunch moveit_servo spacenav_cpp.launch config:=$(rospack find moveit_tutorials)/doc/realtime_servo/ur_config.yaml
 
 If you do not have a SpaceNav 3D mouse, you can publish example servo commands from the command line with: ::
 

doc/realtime_servo/ur_config.yaml

@@ -0,0 +1,68 @@
+###############################################
+# Modify all parameters related to servoing here
+###############################################
+use_gazebo: true # Whether the robot is started in a Gazebo simulation environment
+
+## Properties of incoming commands
+command_in_type: "speed_units" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s
+scale:
+ # Scale parameters are only used if command_in_type=="unitless"
+ linear: 0.6 # Max linear velocity. Meters per publish_period. Unit is [m/s]. Only used for Cartesian commands.
+ rotational: 0.3 # Max angular velocity. Rads per publish_period. Unit is [rad/s]. Only used for Cartesian commands.
+ # Max joint angular/linear velocity. Rads or Meters per publish period. Only used for joint commands on joint_command_in_topic.
+ joint: 0.01
+low_pass_filter_coeff: 2. # Larger --> trust the filtered data more, trust the measurements less.
+
+## Properties of outgoing commands
+publish_period: 0.008 # 1/Nominal publish rate [seconds]
+low_latency_mode: false # Set this to true to publish as soon as an incoming Twist command is received (publish_period is ignored)
+
+# What type of topic does your robot driver expect?
+# Currently supported are std_msgs/Float64MultiArray (for ros_control JointGroupVelocityController or JointGroupPositionController)
+# or trajectory_msgs/JointTrajectory (for Universal Robots and other non-ros_control robots)
+command_out_type: std_msgs/Float64MultiArray
+
+# What to publish? Can save some bandwidth as most robots only require positions or velocities
+publish_joint_positions: true
+publish_joint_velocities: false
+publish_joint_accelerations: false
+
+## MoveIt properties
+move_group_name: manipulator # Often 'manipulator' or 'arm'
+planning_frame: world # The MoveIt planning frame. Often 'base_link' or 'world'
+
+## Other frames
+ee_frame_name: tool0 # The name of the end effector link, used to return the EE pose
+robot_link_command_frame: world # commands must be given in the frame of a robot link. Usually either the base or end effector
+
+## Stopping behaviour
+incoming_command_timeout: 0.1 # Stop servoing if X seconds elapse without a new command
+# If 0, republish commands forever even if the robot is stationary. Otherwise, specify num. to publish.
+# Important because ROS may drop some messages and we need the robot to halt reliably.
+num_outgoing_halt_msgs_to_publish: 4
+
+## Configure handling of singularities and joint limits
+lower_singularity_threshold: 17 # Start decelerating when the condition number hits this (close to singularity)
+hard_stop_singularity_threshold: 30 # Stop when the condition number hits this
+joint_limit_margin: 0.1 # added as a buffer to joint limits [radians]. If moving quickly, make this larger.
+
+## Topic names
+cartesian_command_in_topic: delta_twist_cmds # Topic for incoming Cartesian twist commands
+joint_command_in_topic: delta_joint_cmds # Topic for incoming joint angle commands
+joint_topic: joint_states
+status_topic: status # Publish status to this topic
+command_out_topic: /joint_group_position_controller/command # Publish outgoing commands here
+
+## Collision checking for the entire robot body
+check_collisions: true # Check collisions?
+collision_check_rate: 50 # [Hz] Collision-checking can easily bog down a CPU if done too often.
+# Two collision check algorithms are available:
+# "threshold_distance" begins slowing down when nearer than a specified distance. Good if you want to tune collision thresholds manually.
+# "stop_distance" stops if a collision is nearer than the worst-case stopping distance and the distance is decreasing. Requires joint acceleration limits
+collision_check_type: threshold_distance
+# Parameters for "threshold_distance"-type collision checking
+self_collision_proximity_threshold: 0.01 # Start decelerating when a self-collision is this far [m]
+scene_collision_proximity_threshold: 0.05 # Start decelerating when a scene collision is this far [m]
+# Parameters for "stop_distance"-type collision checking
+collision_distance_safety_factor: 1000 # Must be >= 1. A large safety factor is recommended to account for latency
+min_allowable_collision_distance: 0.01 # Stop if a collision is closer than this [m]